Pose correction of INS for indoor location based on a vision navigation method

doi:10.13474/j.cnki.11-2246.2019.0141

Abstract

Abstract: The inertial navigation system can provide continuous navigation information, of which short-term positioning accuracy and stability is good. But positioning error increases with time which cannot work independently for a long time. The traditional way is to use the INS+GNSS integrated navigation method to correct the INS cumulative error. However, this method is no longer applicable in the situation where satellite signals such as indoors and underground are weak. In this paper, vision navigation method adopts a monocular vision positioning method based on cooperative target to correct the error of inertial navigation system. For the method of correcting the error of inertial navigation system, this paper uses the position and attitude information of vision navigation system to establish the observation equation, realize the Kalman filter algorithm based on vision correction, and show that the algorithm has good effect on the correction of the error of inertial navigation system through experiment.

Key words: multi-source fusion navigation, cooperative target, pose correction, Kalman filtering

CLC Number:

P228

ZOU Handa, YUAN Hong. Pose correction of INS for indoor location based on a vision navigation method[J]. 测绘通报, 2019, 0(5): 16-20.

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